Novel motion modes for 2-D locomotion of a microrobot

Jinsoo Kim, Min Jun Kim, Jeonghoon Yoo, Seung Jong Kim

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


This paper proposes novel motion modes for a microrobot which enable several driving options during its 2-D locomotion. The robot motion based on conventional methods shows stick-slip phenomena which produce imprecise jerking movement. We solved the imprecise control problem by using the concept of kinetic friction force. Furthermore, we introduced several motion modes that can generate smooth motion under different environments and presented the pros and cons of each motion mode. A motion mode is properly selected depending on the environment or application purpose, and it can exhibit high performance in the execution of the task. The proposed method using a suitable mode of operation of the microrobot has the potential to be applied in various medical fields.

Original languageEnglish
Article number6971407
JournalIEEE Transactions on Magnetics
Issue number11
Publication statusPublished - 2014 Nov 1

Bibliographical note

Publisher Copyright:
© 1965-2012 IEEE.

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Electrical and Electronic Engineering


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